Planning and Execution (CHAP-E) J. Benton, John Kaneshige, David - - PowerPoint PPT Presentation

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Planning and Execution (CHAP-E) J. Benton, John Kaneshige, David - - PowerPoint PPT Presentation

Feb 04, 2024 380 likes •627 views

Cockpit Hierarchical Activity Planning and Execution (CHAP-E) J. Benton, John Kaneshige, David Smith, Chris Plaunt, Leslie Keely, Thomas Stucky Dmitry Luchinsky NASA Ames Research Center Pilot Challenges Complex modern cockpits Loss of

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SLIDE 1

Cockpit Hierarchical Activity Planning and Execution (CHAP-E)

  • J. Benton, John Kaneshige, David Smith, Chris Plaunt, Leslie Keely, Thomas Stucky

Dmitry Luchinsky

NASA Ames Research Center

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SLIDE 2

Pilot Challenges

  • Complex modern cockpits
  • Competing goals:

dispatch, ATC, pilots themselves

  • Dynamically changing situations
  • Aircraft state
  • Weather
  • Changing airport status
  • ATC and dispatch directions
  • Loss of situational awareness
  • Unclear idea of what to do next
  • Incorrect assumptions on

automation mode / state

  • Assuming automation will

prevent unsafe actions

  • Assuming automation will

take necessary actions

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SLIDE 3

The Meat of CHAP-E

  • Maintain situational awareness
  • Enable automated piloting assistance
  • Avoid human error
  • Take over flight tasks (on request)

Art by James Nuanez

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SLIDE 4

Autonomous Flight & Decision Support

  • Monitoring
  • Monitor flight situation
  • Check that pilot stays within
  • perational limits
  • Ensure procedures followed
  • Awareness of ATC clearances
  • Monitor flight procedures
  • Monitor procedure compliance
  • Ensure procedures safely

carried out

  • Flying
  • Make critical decisions
  • Awareness of aircraft state
  • Find procedures to follow
  • Decide when to contact ATC
  • Follow flight procedures
  • Decide when to execute

steps in procedure

  • Adapt flight procedures for

situation

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SLIDE 5

CHAP-E Technologies

  • Planning
  • ANML
  • FAPE
  • CHAP-EL
  • Fast Simulation
  • TPS
  • Execution
  • PLEXIL

Hierarchical Planner (FAPE) Task Scheduler Task Execution Execution Forecaster

ANML Task Models PLEXIL TPS TPS

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SLIDE 6

Planning – Capture Pilot Procedures

  • Standard Operating Procedures
  • Carrier Flight Manuals
  • Pilot Operating Handbook
  • Quick Reference Guides
  • Checklists
  • Pilot Experience
Flight Processes Periodic Monitoring / Triggers Clearance Process ATC: "NASA123 clear for ILS approach to RWY 28R speed <airspeed> to descend via MODESTO 5” Clearance Monitoring Airspeed Monitoring Inform PF: “Check speed” Airspeed Setting Process Is airspeed within limits? No Set airspeed to <airspeed> Is airspeed ‘reasonable’? No Periodic airspeed check Periodic airspeed check Call out <airspeed> Altitude Setting Process Verify speed setting Communicate with ATC: "NASA123, cleared ILS to 28R, slowing to <airspeed>" Request “set altitude to <altitude>” Set MCP altitude to <altitude> Verify altitude Verify altitude Altitude Monitoring Inform PF: “Check airspeed” Is altitude within limits? No Is altitude ‘reasonable’? No Periodic altitude check Periodic altitude check Localizer Capture Process Call out “localizer captured” Confirm localizer captured Initial Approach Localizer Monitoring Periodic localizer check Glideslope Capture Process Call out “glideslope captured” Confirm glideslope captured Flap Setting Process Request Flaps to <flaps setting> Confirm flap setting at <flaps setting> Flap Change Monitoring Speed appropriate for flaps <flaps setting>? No Inform PF: “Check altitude” Yes Move flaps to <flaps setting> Call out “Flaps <flaps setting>” Periodic monitoring Altitude within limits?x Airspeed within limits? FMAs ..? Inform PF: “check altitude” Inform PF: “check airspeed” Call out “???” No Airspeed Altitude Altitude Airspeed FMAs Localizer ATC Approach Clearance Yes “ ” Periodic monitoring Cancel Approach Process Call out “glideslope captured” Confirm glideslope captured

Collect procedures

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SLIDE 7

Planning – Hierarchical Procedures

  • Procedures classified

into flight phases, clearances and procedures

  • During flight,

procedures may be modified or added to so that we may maintain flight constraints

Flight (from, to) FileFPlan(from,to) ObtainClearance Taxi(rnwy) Fly(from,to) Taxi(gate) Shutdown Takeoff(rnwy) Climb Cruise Descend Approach Land SetMCPSpeedVref20(0) SetFlaps(15) SetFlaps(20) SetGear(down) SetAutoBrakes(3) CaptureLocalizer CaptureGlideslope ArmSpeedBrakes SetMissedApprAlt RunLdgChecklist VerifyStabilizedAppr CheckRadarAltimeterAlive SetMCPSpeedVref30(5) SetFlaps(30)

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SLIDE 8

Planning – Hierarchical Procedures

  • Tasks
  • Primitive
  • Realized actions performed by pilots
  • Non-primitive
  • High-level tasks to perform
  • E.g., approach, set flaps
  • Methods
  • Method T:

Parameters: x,y Subtasks: T1, T2, T3, T4 Constraints/Limitations: T1 -> T3, C -> T3

  • Planner
  • Expansion of tasks using methods
  • Satisfaction of constraints

(PM) CheckSpeed (PF) RequestFlaps (PM) MoveFlaps (PF) ConfirmFlaps (PM) CallOutFlaps SetFlaps(LandingFlaps) SetSpeed(VREF+5) SetMissedApprAlt CaptureGlideslope Approach

… … … …

Realized Actions

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SLIDE 9

Planning – Activity Plan Construction

Flight Processes Periodic Monitoring / Triggers Clearance Process ATC: "NASA123 clear for ILS approach to RWY 28R speed <airspeed> to descend via MODESTO 5” Clearance Monitoring Airspeed Monitoring Inform PF: “Check speed” Airspeed Setting Process Is airspeed within limits? No Set airspeed to <airspeed> Is airspeed ‘reasonable’? No Periodic airspeed check Periodic airspeed check Call out <airspeed> Altitude Setting Process Verify speed setting Communicate with ATC: "NASA123, cleared ILS to 28R, slowing to <airspeed>" Request “set altitude to <altitude>” Set MCP altitude to <altitude> Verify altitude Verify altitude Altitude Monitoring Inform PF: “Check airspeed” Is altitude within limits? No Is altitude ‘reasonable’? No Periodic altitude check Periodic altitude check Localizer Capture Process Call out “localizer captured” Confirm localizer captured Initial Approach Localizer Monitoring Is localizer Periodic localizer check Glideslope Capture Process Call out “glideslope captured” Confirm glideslope captured Flap Setting Process Request Flaps to <flaps setting> Confirm flap setting at <flaps setting> Flap Change Monitoring Speed appropriate for flaps <flaps setting>? No Inform PF: “Check altitude” Yes Move flaps to <flaps setting> Call out “Flaps <flaps setting>” Periodic monitoring Altitude within limits?x Airspeed within limits? FMAs ..? Inform PF: “check altitude” Inform PF: “check airspeed” Call out “???” No Airspeed Altitude Altitude Airspeed FMAs Localizer ATC Approach Clearance Yes “ ” Periodic monitoring Cancel Approach Process Call out “glideslope captured” Confirm glideslope captured

(PM) CheckSpeed (PF) RequestFlaps (PM) MoveFlaps (PF) ConfirmFlaps (PM) CallOutFlaps SetFlaps(LandingFlaps) SetSpeed(VREF+5) SetMissedApprAlt CaptureGlideslope Approach

… … … …

Realized Actions

Translate to Hierarchy

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SLIDE 10

Scheduling - Procedure Assistance

  • Execution window for each action in a procedure
  • Provide estimates on best time to execute the procedure
  • Earliest Start Time (EST), Latest Start Time (LST), Preferred Earliest Start Time

(PEST), Preferred Latest Start Time (PLST), Preferred Start Time (PST)

  • Defines when a pilot should perform tasks, includes exact time point
  • Automated agent performs tasks at Preferred Start Time (PST)
  • Windows found through a combination of domain modeling and fast

time simulation (using TPS)

EST PEST PLST LST PST Displayed

Gear Down

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SLIDE 11

Procedure Execution

“You have to fly before you can monitor.”

As long as all the external events happened, do this:

EST PEST PLST LST PST

Gear Down

Is this happening too early or late? Did the pilots meet the constraints of this procedure? Is this safe? Can we still land using this procedure?

EST PEST PLST LST PST

Gear Down Monitoring: Flying:

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SLIDE 12

Monitoring - Procedure Execution

  • Monitor flight constraints
  • Aircraft constraints
  • Vmax ≥ IAS ≥ Vref
  • Airline operational constraints

Example: Between capturing localizer and the runway, MCP-Lmode should be LOC Example: Stabilized approach between 1000 AGL & runway threshold

  • Procedure execution constraints

Example: After clearance, and between ARCHI and GIRRR: Arm the localizer

  • Trigger re-planning if constraints

violated

Events before[ARCHI-2] {CLR: start(Clearance = {ClearedApproach(ILS28R.ARCHI)})} ; before[ARCHI] {F5max: start(IAS <= Vmax5)} ; F20: start(Flaps = 20); A1000: start[Alt <= 1000 + TDZE) ; ... Actions after[CLR] & between[ARCHI, GIRRR] {ArmLocalizer} ; after[CLR] & after[F5max] & between[ARCHI, GIRRR] <<SetFlaps(5), SetMCP-SPD(Vref5)>> ; between[CLR, ARCHI] {SetMCP-Alt(1800)} ; after[F20] & between[AXMUL-2, AXMUL] {Gear: SetGear(Down)} ; ... Monitors throughout[CEDES, RW28L] IAS in [Vref,Vmax] ; throughout[LocCap, RW28L] MCP-LMODE = LOC ; throughout[CEDES, RW28R] Vmax ≥ IAS ≥ Vref ; throughout[A1000, RW28R] StabilizedApproach ; ... CHAP-EL

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SLIDE 13

Monitoring - Constraint Violations

Flaps 5 Airspeed Vref5+10

Procedure Segment: Actual Pilot Actions:

Flaps 5 Flaps 20 Flaps 20 Flaps 20 Before Flaps 20 Airspeed < Vmax20 Airspeed Vref5

Does this violate the procedure?

No: if condition Airspeed < Vmax20 satisfied by Vref5+10

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SLIDE 14

Monitoring - Constraint Violations

Flaps 5 Airspeed Vref5+10

Procedure Segment: Actual Pilot Actions:

Flaps 5 Flaps 20 Flaps 15 Flaps 20 Before Flaps 20 Airspeed < Vmax20 Airspeed Vref5

Does this violate the procedure?

Airspeed Vref15 Flaps 20

No: if condition Airspeed < Vmax15 satisfied by Vref5+10 & condition Airspeed < Vmax20 satisfied by Vref15

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SLIDE 15

Monitoring – New External Events

New Clr: Maintain Alt until GIRRR

New Procedure Segment: (after GIRRR) New Event:

Alt 1800 Flaps 20 Flaps 20 Before Flaps 20 Airspeed < Vmax20 Flaps 5

Is the procedure still valid?

Procedure Segment:

Airspeed Vref5 Alt 1800 Flaps 20 Flaps 5 Airspeed Vref5 Speedbrakes Insert to maintain procedure

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SLIDE 16

CHAP-E Display

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SLIDE 17

Full Autonomy (Flying)

CHAP-E Flying / Monitoring

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SLIDE 18

Partial Autonomy (Monitoring)

CHAP-E Monitoring

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SLIDE 19

Summary

  • Maintains situational awareness
  • Aware of instruments
  • Clearances (data comm)
  • Enables automated pilot assistance
  • Suggests procedures based on

situation

  • Gives safety margins on procedure

execution steps

  • Avoids human error
  • Warns prior to missed steps
  • Missed steps will cause procedure re-planning
  • Takes over flight tasks
  • Performs suggested procedures
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SLIDE 20

In Progress

  • More accurate, detailed modeling of preference windows &

constraints

  • Continuous Re-scheduling
  • Through fast-simulation, continuously re-schedule - execution windows may

shrink, grow, or shift.

  • Re-planning
  • Find new procedure when new circumstances occur or current plan is violated
  • Improved tolerance of action models to handle common

contingencies like speed & altitude restrictions w/out replanning

  • Allow pilot to request for automated system to perform certain tasks
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SLIDE 21

Thank you

Art by James Nuanez

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SLIDE 22
  • Events
  • Actions
  • Monitors

before[ARCHI-2] {CLR: start(Clearance = {ClearedApproach(ILS28R.ARCHI)})} ; before[ARCHI] {F5max: start(IAS <= Vmax5)} ; F20: start(Flaps = 20); A1000: start[Alt <= 1000 + TDZE) ; ... after[CLR] & between[ARCHI, GIRRR] {ArmLocalizer} ; after[CLR] & after[F5max] & between[ARCHI, GIRRR] <<SetFlaps(5), SetMCP-SPD(Vref5)>> ; between[CLR, ARCHI] {SetMCP-Alt(1800)} ; // glideslope intercept altitude after[F20] & between[AXMUL-2, AXMUL] {Gear: SetGear(Down)} ; ... throughout[CEDES, RW28L] IAS in [Vref,Vmax] ; throughout[LocCap, RW28L] MCP-LMODE = LOC ; throughout[CEDES, RW28R] Vmax ≥ IAS ≥ Vref ; throughout[A1000, RW28R] StabilizedApproach ; ...

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SLIDE 23

KSFO ILS 28R

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